CN106121015A - A kind of construction drainage burying pipeline intelligent robot - Google Patents
A kind of construction drainage burying pipeline intelligent robot Download PDFInfo
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- CN106121015A CN106121015A CN201610553363.7A CN201610553363A CN106121015A CN 106121015 A CN106121015 A CN 106121015A CN 201610553363 A CN201610553363 A CN 201610553363A CN 106121015 A CN106121015 A CN 106121015A
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- stock chest
- parallel connection
- vibration table
- delta parallel
- shaft
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- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F3/00—Sewer pipe-line systems
- E03F3/06—Methods of, or installations for, laying sewer pipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/08—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions using driven mechanical means affecting the mixing
- B28C5/0893—Mobile mixing devices, e.g. hanging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28C—PREPARING CLAY; PRODUCING MIXTURES CONTAINING CLAY OR CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28C5/00—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions
- B28C5/48—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions wherein the mixing is effected by vibrations
- B28C5/485—Apparatus or methods for producing mixtures of cement with other substances, e.g. slurries, mortars, porous or fibrous compositions wherein the mixing is effected by vibrations with reciprocating or oscillating stirrers; Stirrers therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The present invention relates to a kind of construction drainage burying pipeline intelligent robot, including stock chest, agitating device, adjustable discharge device, delta parallel connection vibration table, fixing device, running gear and track, agitating device is positioned at inside stock chest, adjustable discharge device is positioned at immediately below the square leak at the medium position of stock chest lower end, delta parallel connection vibration table is arranged on stock chest lateral wall by fixing device, running gear is positioned at immediately below delta parallel connection vibration table, and running gear upper end is connected with delta parallel connection vibration table lower end, running gear lower end is installed in orbit.The present invention collects study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walks in one; one-machine-multi-function; and mechanical intelligent degree is high; effectively raise efficiency and the quality of construction drainage burying pipeline; improve the sealing after building pipe is buried and fastness, drainage pipeline is served good protective effect.
Description
Technical field
The present invention relates to building intelligence construction equipment field, specifically a kind of construction drainage burying pipeline intelligent machine
People.
Background technology
Construction refers to the production activity implementation phase of engineering construction, is the building course of all kinds of building, it is also possible to
Say it is the various lines on design drawing, in the place specified, become process in kind；It includes basic engineering construction, master
Body structure construction, roof construction, Water and Waste Water Engineering, decorative engineering construction etc.；Referred to as " building is executed in the place of construction operation
Work is on-the-spot " or cry " job site ".Often relating to Water and Waste Water Engineering in building construction process, Water and Waste Water Engineering is general
Being all to carry out digging foundation ditch, laying pipeline and buried pipes around the foot of a wall in building construction, the many employings of buried pipes material mix
Solidifying soil is buried, and the many employings of mode of operation of buried pipes are manually buried with shovel spade, manually bury and have the disadvantage in that
(1) occupy substantial amounts of labour force, and labor intensity is big；
(2) manually carry out building pipe to bury usually first after mixing plant is by concrete-agitating, transported by transport vehicle afterwards
Transporting to job site, the most manually fill, centre is the most long, the concrete easy slagging scorification caking after stirring, and
It is not easy to before pouring be again stirring for, has had a strong impact on the sealing after burying pipeline and fastness；
(3) it is all that manually to carry out filler, amount of filler and filler speed the most wayward during burying pipeline, causes burying pipeline
Out-of-flatness or uneven；
(4) burying pipeline construction equipment intelligence degree is low, and functionalization is single, and work efficiency is low, and construction cost is high.
In addition, owing to construction site peril hidden danger is more, and workmen's safety consciousness is not strong,
Buried pipes process often results in unnecessary security incident, and workmen causes actual bodily harm, simultaneously also to work order
Position causes monetary losses；If carrying out burying pipeline by plant equipment, there is no special mechanical equipment in this respect the most at present,
And owing to construction site place is uneven and pavement behavior is poor, it has not been convenient to automated machine moves and walks.
In consideration of it, the invention provides a kind of construction drainage burying pipeline intelligent robot.In view of above not enough, the invention provides one
Plant strip road edgewise and build intelligent robot by laying bricks or stones.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of construction drainage burying pipeline intelligent robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of construction drainage burying pipeline intelligent robot, including stock chest, agitating device, adjustable discharge device,
Delta parallel connection vibration table, fixing device, running gear and track；Described stock chest is cross shell structure, and stock chest
Upper end open, the left and right sides, stock chest lower end is provided with inclined floor, and the concrete in inclined floor beneficially stock chest passes through
Square leak is discharged, and offers square leak at the medium position of stock chest lower end；Described agitating device is positioned at inside stock chest,
Adjustable discharge device quantity is two, adjustable discharge device be positioned at the square leak at the medium position of stock chest lower end just under
Side, and adjustable discharge device is respectively symmetrically layout along stock chest longitudinal center axis；Described delta parallel connection vibration table quantity
Being four, delta parallel connection vibration table lays respectively at four drift angles of stock chest, and delta parallel connection vibration table is pacified by fixing device
It is contained on stock chest lateral wall；Described running gear quantity is four, and running gear is positioned at immediately below delta parallel connection vibration table,
And running gear upper end is connected with delta parallel connection vibration table lower end, running gear lower end is arranged in orbit.
Further, described agitating device includes that shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；
Described shaft is positioned at inside stock chest, and shaft two ends are fixed on stock chest front-rear side walls by rolling bearing units respectively,
Stirring hooks pawl and is the most linearly arranged on shaft, and stirring hooks and is provided with, in the middle part of pawl, the snap ring matched with shaft, stirring
Hook and be evenly arranged with arc shape stirrer gear, electric rotating machine main shaft and shaft one end phase along the central axis stirring hook pawl outside pawl
Connecting, and electric rotating machine is fixed on stock chest front end outer side wall by electric machine support, electric machine support front end is provided with and rotates
The retainer ring that motor matches, electric machine support rear end is evenly arranged with locking post；Shaft is driven by the rotation of electric rotating machine
Rotation, thus drive stirring hook pawl rotation in stock chest, reached in stock chest store concrete carry out secondary
The function of stirring, it is therefore prevented that concrete is the problem of easy slagging scorification caking after lasting a period of time.
Further, described delta parallel connection vibration table include fixed platform, moving platform, top base, bottom base, upper rotary shaft,
Lower rotary shaft, upper connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；Described fixed platform and
Moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of top base and bottom base is three, top base
It is fixed on moving platform bottom face in equilateral triangle shape centered by the center of circle of moving platform, during bottom base with the center of circle of fixed platform is
The heart is that equilateral triangle shape is arranged on fixed platform top end face, and one a pair respectively of top base installation site and bottom base installation site
Should, upper connecting rod one end is arranged on top base by upper rotary shaft, by rotating between the upper connecting rod other end and lower link top
Pin is attached, and lower link bottom is arranged on bottom base by lower rotary shaft；Described electric pushrod be positioned at connecting rod and under
Between connecting rod, and electric pushrod upper end is arranged at the medium position of upper connecting rod by upper hinge, under electric pushrod lower end is passed through
Hinge is arranged at the medium position of lower link, and limit spring is around being enclosed within electric pushrod.By the stretching motion of electric pushrod
The corresponding rotation of connecting rod and lower link can be driven, thus drive the motion of moving platform, and be added by limit spring dynamic flat
The jitter of platform, improves the vibrating effect of delta parallel connection vibration table, and delta parallel connection vibration table uses delta parallel institution,
Big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel connection vibration table is in space
Three translations three can be carried out and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, kinematic dexterity
Good, in the present invention, drive whole stock chest can carry out three translations three in space by delta parallel connection vibration table and rotate totally six
The motion in individual degree of freedom direction, by the feature fortune that the kinematic dexterity of six degree of freedom delta parallel institution is high and bearing capacity is strong
Use in the present invention so that the present invention is while being stirred concrete, and the principle also by vibration mixing adds mixed
The effect of solidifying soil uniform secondary mixing, quality when beneficially building pipe is buried, improve the sealing after building pipe is buried
Property and fastness, serve good protective effect to drainage pipeline；The speed of frequency of vibration decides discharging of the present invention simultaneously
Speed.
Further, described adjustable discharge device includes discharge door, turning joint, ear mount, rotating shaft, a discharging
Expansion link, No. two ear mount, No. two rotating shafts and support bar；Described discharge door is in the U-shape structure stood upside down, discharge door rear and front end card
It is enclosed within before and after stock chest on two lateral walls, is attached by turning joint between discharge door and stock chest lateral wall, an ear
Seat is arranged at discharge door bottom face medium position, and discharging expansion link front end is arranged in an ear mount by a rotating shaft, goes out
Material expansion link rear end is connected with No. two ear mount by No. two rotating shafts, and No. two ear mount are fixed on supporting bar top, support bar bottom
It is fixed on stock chest bottom face；Driven closedown and the unlatching of discharge door by the stretching, extension of discharging expansion link and shrinking, discharging is stretched
The length of contracting bar directly decides the angle that discharge door opens, thus decides the load of discharging of the present invention, adjustable discharge
Device is mainly used in the regulation of load during discharging of the present invention.
Further, described fixing device includes fixed plate and clamping screw, and the T-shaped structure of fixed plate, fixed plate is positioned at
At stock chest drift angle, and fixed plate is arranged on stock chest lateral wall by clamping screw.
Further, described running gear includes lifting stud, jacking sleeve, walking seat, walking rotating shaft and road wheel；Institute
Being provided with external screw thread on the lifting stud lateral wall stated, jacking sleeve is the hollow cylindrical structure of both ends open, jacking sleeve
The female thread that the external screw thread being provided with on medial wall and lift on stud lateral wall matches, lifting stud lower end is arranged on lifting
Sleeve inner, jacking sleeve lower end is fixed on walking seat, and walking seat is in the U-shape structure stood upside down, and road wheel is by walking rotating shaft
Being arranged on walking seat lower position, road wheel is I-shaped structure；Drive lifting stud in lifting by rotating lifting stud
Up and down motion in sleeve, thus for regulating the whole height of the present invention, it is simple to the drainage pipeline of differing heights bury work
Journey, the effect that the discharging that simultaneously can realize walking is buried, and also mechanization degree is high, improves construction drainage pipeline and covers
The efficiency buried.
Compared with prior art, the invention have the advantages that
(1) present invention collects study of concrete secondary mixing, vibration mixing, adjustable discharge and automatically walks in one, and a machine is many
Can, and mechanical intelligent degree is high, effectively raises efficiency and the quality of construction drainage burying pipeline.
(2) present invention can carry out secondary stirring to concrete by agitating device, it is therefore prevented that concrete lasts a period of time
The problem of rear easily slagging scorification caking.
(3) adjustable angle that adjustable discharge device of the present invention opens, thus construction drainage pipe is buried in adjustable invention
Load during road.
(4) six degree of freedom delta parallel institution is applied on delta parallel connection vibration table by the present invention, can drive whole storage
Hopper can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, takes full advantage of six degree of freedom delta
The feature that the kinematic dexterity of parallel institution is high and bearing capacity is strong so that the present invention while concrete is stirred,
Principle also by vibration mixing adds the effect of concrete uniform secondary mixing, matter when beneficially building pipe is buried
Amount, improves the sealing after building pipe is buried and fastness, drainage pipeline serves good protective effect.
(5) whole height of running gear adjustable of the present invention invention, it is simple to burying of the drainage pipeline of differing heights
Engineering, the effect that the discharging that simultaneously can realize walking is buried, and also mechanization degree is high, improves construction drainage pipeline
The efficiency buried.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view after the present invention removes running gear and track；
Fig. 3 is that perspective view when stock chest of the present invention, agitating device and the cooperation of adjustable discharge device is (from upper
Look down)；
Fig. 4 is that perspective view when stock chest of the present invention, agitating device and the cooperation of adjustable discharge device is (under from
Look up)；
Fig. 5 is the perspective view of agitating device of the present invention；
Fig. 6 is the perspective view of delta parallel connection vibration table of the present invention；
Fig. 7 is the perspective view after delta parallel connection vibration table of the present invention removes moving platform and fixed platform；
Fig. 8 is perspective view during running gear of the present invention vibration table in parallel with delta；
Fig. 9 is perspective view when running gear of the present invention and track cooperation.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 9, a kind of construction drainage burying pipeline intelligent robot, including stock chest 1, agitating device 2,
Adjustable discharge device 3, delta parallel connection vibration table 4, fixing device 5, running gear 6 and track 7；Described stock chest 1 is in ten
Font shell structure, and stock chest 1 upper end open, the left and right sides, stock chest 1 lower end is provided with inclined floor, and inclined floor is favourable
Concrete in stock chest 1 is discharged by square leak, offers square leak at the medium position of stock chest 1 lower end；Described
Agitating device 2 to be positioned at stock chest 1 internal, adjustable discharge device 3 quantity is two, and adjustable discharge device 3 is positioned at stock chest 1
Immediately below square leak at the medium position of lower end, and adjustable discharge device 3 is respectively symmetrically along stock chest 1 longitudinal center axis
Arrange；Described delta parallel connection vibration table 4 quantity is four, and delta parallel connection vibration table 4 lays respectively at 1 four drift angles of stock chest
Locate, and delta parallel connection vibration table 4 is arranged on stock chest 1 lateral wall by fixing device 5；Described running gear 6 quantity is
Four, running gear 6 is positioned at immediately below delta parallel connection vibration table 4, and vibration table 4 in parallel with delta lower end, running gear 6 upper end
Being connected, running gear 6 lower end is arranged on track 7.
As it is shown in figure 5, described agitating device 2 includes that shaft 21, stirring hook pawl 22, rolling bearing units 23, electric rotating machine
24 and electric machine support 25；It is internal that described shaft 21 is positioned at stock chest 1, and shaft 21 two ends are solid by rolling bearing units 23 respectively
Being scheduled on stock chest 1 front-rear side walls, stirring hooks pawl 22 and is the most linearly arranged on shaft 21, and stirring hooks and arranges in the middle part of pawl 22
There are the snap ring matched with shaft 21, stirring to hook outside pawl 22 and are evenly arranged with arc shape along the central axis stirring hook pawl 22
Stirrer gear, electric rotating machine 24 main shaft is connected with shaft 21 one end, and electric rotating machine 24 is fixed on storage by electric machine support 25
On hopper 1 front end outer side wall, electric machine support 25 front end is provided with the retainer ring matched with electric rotating machine 24, after electric machine support 25
End is evenly arranged with locking post；By the rotation rotating drive shaft 21 of electric rotating machine 24, thus stirring is driven to hook pawl 22
Rotation in stock chest 1, has reached to carry out the concrete stored in stock chest 1 function of secondary stirring, it is therefore prevented that coagulation
Soil is the problem of easy slagging scorification caking after lasting a period of time.
As shown in Figure 6 and Figure 7, further, described delta parallel connection vibration table 4 include fixed platform 41, moving platform 42, on
Pedestal 43, bottom base 44, upper rotary shaft 45, lower rotary shaft 46, upper connecting rod 47, lower link 48, rotational pin 49, upper hinge 410, under
Hinge 411, electric pushrod 412 and limit spring 413；Described fixed platform 41 and moving platform 42 the most rounded shape structure, dynamic flat
Platform 42 is positioned at directly over fixed platform 41, and the quantity of top base 43 and bottom base 44 is three, and top base 43 is with the circle of moving platform 42
Be fixed in equilateral triangle shape on moving platform 42 bottom face centered by the heart, bottom base 44 centered by the center of circle of fixed platform 41 in just
Triangle is arranged on fixed platform 41 top end face, and one a pair respectively of top base 43 installation site and bottom base 44 installation site
Should, upper connecting rod 47 one end is arranged on top base 43 by upper rotary shaft 45, upper connecting rod 47 other end and lower link 48 top it
Between be attached by rotational pin 49, lower link 48 bottom is arranged on bottom base 44 by lower rotary shaft 46；Described is electronic
Push rod 412 is between upper connecting rod 47 and lower link 48, and electric pushrod 412 upper end is arranged on upper connecting rod by upper hinge 410
At the medium position of 47, electric pushrod 412 lower end is arranged at the medium position of lower link 48 by lower hinge 411, spacing bullet
Spring 413 is around being enclosed within electric pushrod 412.Upper connecting rod 47 and lower link 48 can be driven by the stretching motion of electric pushrod 412
Corresponding rotation, thus drive the motion of moving platform 42, and the jitter of moving platform 42 is added by limit spring 413, improve
The vibrating effect of delta parallel connection vibration table 4, delta parallel connection vibration table 4 uses delta parallel institution, compared with serial mechanism
Rigidity is big, Stability Analysis of Structures, and bearing capacity is strong and fine motion precision is high, and delta parallel connection vibration table 4 can carry out three translations three in space
Rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity is fast, kinematic dexterity is good, in the present invention, logical
Crossing delta parallel connection vibration table 4 drives whole stock chest 1 can carry out three translations three rotation six-freedom degree directions altogether in space
Motion, applies to, in the present invention, make by the feature that the kinematic dexterity of six degree of freedom delta parallel institution is high and bearing capacity is strong
The present invention while concrete is stirred, also by vibration mixing principle add concrete uniform secondary mixing
Effect, quality when beneficially building pipe is buried, improve the sealing after building pipe is buried and fastness, to draining
Pipeline serves good protective effect；The speed of frequency of vibration decides the speed of discharging of the present invention simultaneously.
As shown in Figure 4, described adjustable discharge device 3 includes discharge door 31,32, ear mount 33, of turning joint
Number rotating shaft 34,36, No. two rotating shafts 37 of 35, No. two ear mount of discharging expansion link and support bar 38；Described discharge door 31 is in the U stood upside down
Type structure, discharge door 31 rear and front end is fastened in before and after stock chest 1 on two lateral walls, discharge door 31 and stock chest 1 lateral wall it
Between be attached by turning joint 32, an ear mount 33 is arranged at discharge door 31 bottom face medium position, discharging expansion link
35 front ends are arranged in an ear mount 33 by a rotating shaft 34, and No. two rotating shafts 37 and No. two ears are passed through in discharging expansion link 35 rear end
Seat 36 is connected, and No. two ear mount 36 are fixed on support bar 38 top, and support bar 38 bottom is fixed on stock chest 1 bottom face；Logical
Crossing the stretching, extension of discharging expansion link 35 and shrink closedown and the unlatching driving discharge door 31, the length of discharging expansion link 35 directly determines
The angle that discharge door 31 opens, thus decide the load of discharging of the present invention, adjustable discharge device 3 is mainly used in this
The regulation of load during bright discharging.
As in figure 2 it is shown, described fixing device 5 includes fixed plate 51 and clamping screw 52, the T-shaped structure of fixed plate 51,
Fixed plate 51 is positioned at stock chest 1 drift angle, and fixed plate 51 is arranged on stock chest 1 lateral wall by clamping screw 52.
As shown in Figure 8 and Figure 9, described running gear 6 includes lifting stud 61, jacking sleeve 62, walking seat 63, walking
Rotating shaft 64 and road wheel 65；Being provided with external screw thread on described lifting stud 61 lateral wall, jacking sleeve 62 is in both ends open
Hollow cylindrical structure, jacking sleeve 62 medial wall is provided with interior with what the external screw thread lifted on stud 61 lateral wall matched
Screw thread, it is internal that lifting stud 61 lower end is arranged on jacking sleeve 62, and jacking sleeve 62 lower end is fixed on walking seat 63, seat of walking
63 in the U-shape structure stood upside down, and road wheel 65 is arranged on walking seat 63 lower position by walking rotating shaft 64, and road wheel 65 is in work
Font structure；Drive the lifting stud 61 up and down motion in jacking sleeve 62 by rotating lifting stud 61, thus be used for adjusting
The whole height of abridged edition invention, it is simple to the drainage pipeline of differing heights bury engineering, can realize walking simultaneously
The effect that material is buried, and mechanization degree is high, improves the efficiency of construction drainage burying pipeline.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (4)
1. a construction drainage burying pipeline intelligent robot, it is characterised in that: include stock chest, agitating device, adjustable go out
Material device, delta parallel connection vibration table, fixing device, running gear and track；Described stock chest is cross shell structure,
And stock chest upper end open, the left and right sides, stock chest lower end is provided with inclined floor, offers at the medium position of stock chest lower end
Square leak；Described agitating device is positioned at inside stock chest, and adjustable discharge device quantity is two, adjustable discharge device position
Immediately below square leak at the medium position of stock chest lower end, and adjustable discharge device divides along stock chest longitudinal center axis
It is not arranged symmetrically with；Described delta parallel connection vibration table quantity is four, and delta parallel connection vibration table lays respectively at stock chest four top
At angle, and delta parallel connection vibration table is arranged on stock chest lateral wall by fixing device；Described running gear quantity is
Four, running gear is positioned at immediately below delta parallel connection vibration table, and running gear upper end is connected with delta parallel connection vibration table lower end
Connecing, running gear lower end is arranged in orbit；Wherein:
Described agitating device includes that shaft, stirring hook pawl, rolling bearing units, electric rotating machine and electric machine support；Described stirring
Axle is positioned at inside stock chest, and shaft two ends are fixed on stock chest front-rear side walls by rolling bearing units respectively, and stirring hooks pawl and depends on
Secondary being linearly arranged on shaft, stirring hooks and is provided with the snap ring matched with shaft in the middle part of pawl, and stirring hooks edge outside pawl
Stirring hooks the central axis of pawl and is evenly arranged with arc shape stirrer gear, and electric rotating machine main shaft is connected with shaft one end, and rotation
Rotating motor is fixed on stock chest front end outer side wall by electric machine support, and electric machine support front end is provided with matches with electric rotating machine
Retainer ring, electric machine support rear end is evenly arranged with locking post；
Described delta parallel connection vibration table include fixed platform, moving platform, top base, bottom base, upper rotary shaft, lower rotary shaft, on
Connecting rod, lower link, rotational pin, upper hinge, lower hinge, electric pushrod and limit spring；Described fixed platform and moving platform all in
Toroidal structure, moving platform is positioned at directly over fixed platform, and the quantity of top base and bottom base is three, and top base is with moving platform
Be fixed on moving platform bottom face in equilateral triangle shape centered by the center of circle, bottom base centered by the center of circle of fixed platform in positive triangle
Arrangements is on fixed platform top end face, and top base installation site and bottom base installation site one_to_one corresponding, upper connecting rod respectively
One end is arranged on top base by upper rotary shaft, is carried out even by rotational pin between the upper connecting rod other end and lower link top
Connecing, lower link bottom is arranged on bottom base by lower rotary shaft；Described electric pushrod between upper connecting rod and lower link,
And electric pushrod upper end is arranged at the medium position of upper connecting rod by upper hinge, electric pushrod lower end is arranged on by lower hinge
At the medium position of lower link, limit spring is around being enclosed within electric pushrod.
A kind of construction drainage burying pipeline intelligent robot the most according to claim 1, it is characterised in that: described is adjustable
Formula drawing mechanism includes discharge door, turning joint, ear mount, rotating shaft, discharging expansion link, No. two ear mount, No. two rotating shafts
And support bar；Described discharge door is in the U-shape structure stood upside down, and discharge door rear and front end is fastened in two lateral walls before and after stock chest
On, it being attached by turning joint between discharge door and stock chest lateral wall, an ear mount is arranged in discharge door bottom face
Position, portion, discharging expansion link front end is arranged in an ear mount by a rotating shaft, and discharging expansion link rear end is turned by No. two
Axle and No. two ear mount are connected, and No. two ear mount are fixed on supporting bar top, and support bar bottom is fixed on stock chest bottom face.
A kind of construction drainage burying pipeline intelligent robot the most according to claim 1, it is characterised in that: described is fixing
Device includes fixed plate and clamping screw, the T-shaped structure of fixed plate, and fixed plate is positioned at stock chest drift angle, and fixed plate is passed through
Clamping screw is arranged on stock chest lateral wall.
A kind of construction drainage burying pipeline intelligent robot the most according to claim 1, it is characterised in that: described walking
Device includes lifting stud, jacking sleeve, walking seat, walking rotating shaft and road wheel；Arrange on described lifting stud lateral wall
Having external screw thread, jacking sleeve is the hollow cylindrical structure of both ends open, jacking sleeve medial wall is provided with and lifts stud
The female thread that external screw thread on lateral wall matches, lifting stud lower end is arranged on inside jacking sleeve, and jacking sleeve lower end is solid
Being scheduled on walking seat, walking seat is in the U-shape structure stood upside down, and road wheel is arranged on walking seat lower position by walking rotating shaft,
Road wheel is I-shaped structure.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810326474.3A CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
| CN201610553363.7A CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610553363.7A CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326474.3A Division CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106121015A true CN106121015A (en) | 2016-11-16 |
| CN106121015B CN106121015B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610553363.7A Active CN106121015B (en) | 2016-07-14 | 2016-07-14 | A kind of construction drainage burying pipeline intelligent robot |
| CN201810326474.3A Active CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810326474.3A Active CN108571051B (en) | 2016-07-14 | 2016-07-14 | Burying robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112064752B (en) * | 2020-09-07 | 2021-10-01 | 浙江蓝绿双城建筑设计有限公司 | Drain pipe construction equipment and drain pipe construction method |
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| CN204282834U (en) * | 2014-11-28 | 2015-04-22 | 三一汽车制造有限公司 | A kind of concrete hopper and concrete spreader |
| CN204728312U (en) * | 2015-05-15 | 2015-10-28 | 重庆建筑工程职业学院 | The fastening servicing unit of track traffic construction ground |
| CN204849874U (en) * | 2015-06-11 | 2015-12-09 | 安庆市华鑫重工股份有限公司 | Special stirring screening plant of rubble grab bucket |
| CN205310527U (en) * | 2016-01-08 | 2016-06-15 | 长安大学 | Stabilized soil secondary agitating unit |
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| WO2012167694A1 (en) * | 2011-06-10 | 2012-12-13 | 厦门正鸿昌机械科技有限公司 | Excavator with tracked pontoons |
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106121015B (en) | 2018-08-24 |
| CN108571051A (en) | 2018-09-25 |
| CN108571051B (en) | 2020-12-18 |
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